CN107117173B

CN107117173B - The braking of vehicle and drop turn round control method, apparatus and system

Info

Publication number: CN107117173B
Application number: CN201710288527.2A
Authority: CN
Inventors: 韩领涛; 丁超; 任强; 黄少堂; 郑淳允
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2017-04-27
Filing date: 2017-04-27
Publication date: 2019-05-28
Anticipated expiration: 2037-04-27
Also published as: CN107117173A

Abstract

The present invention relates to the brakings of vehicle and drop to turn round control method, apparatus and system.The described method includes: obtaining the road surface types of the pavement image identification vehicle current driving of vehicle current driving；According to road surface types and default braking and the corresponding relationship of torque control mode, start braking corresponding with current road type and torque control mode；Under different brakings and torque control mode, control for brake is executed to wheel according to the output torque of different torque control strategy adjustment engines, and according to different braking control strategies；Being conducive to vehicle can be travelled on different road surfaces with optimum state.

Description

The braking of vehicle and drop turn round control method, apparatus and system

Technical field

The present invention relates to technical field of vehicle control, braking more particularly to vehicle and drop turn round control method, device and System.

Background technique

Vehicle control device is hybrid power/pure electric vehicle power system assembly controller, is responsible for coordinating engine, drive The work of each components such as dynamic motor, gearbox, power battery.Under normal conditions, it is controlled by entire car controller according to default setting Several subsystem works, such as basis realize shift when speed/engine speed reaches certain value automatically, or according to brake The depth of trampling of piece starts anti-lock braking system etc. automatically.However when vehicle driving is on the road surface of different terrain, such as city Road, snowfield, muddy ground, sand ground etc., since surface conditions are there are larger difference, traditional control mode is difficult to support vehicles not It is travelled under same topographic features with optimum state.

Summary of the invention

Based on this, the embodiment of the invention provides the brakings of vehicle and drop to turn round control method, apparatus and system, is conducive to vehicle It can be travelled on different road surfaces with optimum state.

One aspect of the present invention provides the braking of vehicle and drop turns round control method, comprising:

The pavement image for obtaining vehicle current driving identifies the road surface class of vehicle current driving according to the pavement image Type；The road surface types are including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

According to road surface types and default braking and the corresponding relationship of torque control mode, start corresponding with current road type Braking and torque control mode；

Under different brakings and torque control mode, turned round according to the output of different torque control strategy adjustment engines Square, and control for brake is executed to wheel according to different braking control strategies.

The present invention also provides a kind of brakings of vehicle and drop to turn round control device, comprising:

Road surface identification module identifies vehicle according to the pavement image for obtaining the pavement image of vehicle current driving The road surface types of current driving；The road surface types are including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

Braking and drop turn round mode decision module, for according to road surface types with it is default brake and torque control mode it is corresponding Relationship starts braking corresponding with current road type and torque control mode；

Braking and drop turn round control module, are used under different braking and torque control mode, according to different moment of torsion control The output torque of Developing Tactics engine, and control for brake is executed to wheel according to different braking control strategies.

The present invention also provides a kind of brakings of vehicle and drop to turn round control system, comprising: road surface identification device, the control of full landform Device and braking and drop turn round control device；

The road surface identification device is identified for obtaining the pavement image of vehicle current driving according to the pavement image The road surface types of vehicle current driving, and the road surface types are sent to the full landform controller；

The full landform controller, for the corresponding relationship according to road surface types and default braking and torque control mode, It determines braking corresponding with current road type and torque control mode, and is sent to the braking and drop torsion control device；Institute Road surface types are stated including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

The braking and drop turn round control device, for starting corresponding braking and torque control mode, in different braking and Under torque control mode, according to the output torque of different torque control strategy adjustment engines, and according to different braking controls System strategy executes control for brake to wheel.

Above-mentioned technical proposal, the pavement image by obtaining vehicle current driving in real time or periodically identify that vehicle is worked as The road surface types of preceding traveling；It is automatic to start and work as according to road surface types and default braking and the corresponding relationship of torque control mode The corresponding braking of preceding road surface types and torque control mode；Under different brakings and torque control mode, according to different torsions Square control strategy adjusts the output torque of engine, and executes control for brake to wheel according to different braking control strategies, has It can be travelled conducive to vehicle on different road surfaces with optimum state.

Detailed description of the invention

Fig. 1 is the braking of the vehicle of an embodiment and the schematic flow chart of drop torsion control method；

Fig. 2 is the braking of the vehicle of an embodiment and the exemplary diagram of drop torsion control method；

Fig. 3 is the braking of the vehicle of an embodiment and the schematic diagram of drop torsion control device；

Fig. 4 is the braking of the vehicle of an embodiment and the schematic diagram of drop torsion control system.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

Fig. 1 is the braking of the vehicle of an embodiment and the schematic flow chart of drop torsion control method；As shown in Figure 1, this The braking of vehicle in embodiment and drop turn round control method comprising steps of

S11 obtains the pavement image of vehicle current driving, and the road surface of vehicle current driving is identified according to the pavement image Type.

In one embodiment, the pavement image that vehicle current driving can be obtained in real time by preset camera, due to not The information such as color, pixel and/or contrast with pavement image are different, can effectively identify current road based on image analysis algorithm State, i.e., can recognize that current road is prevailing roadway (including ordinary municipal road surface and common expressway according to pavement image Face), snowy road surface, paddle road surface or sand ground (or rubble).

Optionally, prevailing roadway, snowfield, muddy ground, sand ground are included at least according to the road surface types of pavement image identification In two kinds.

S12, according to road surface types and default braking and the corresponding relationship of torque control mode, starting and current road type Corresponding braking and torque control mode.

In an alternative embodiment, the braking of the vehicle and drop torsion control method further include that various brakings and torque is arranged The step of control model, and establish the step of road surface types are with the corresponding relationship of braking and torque control mode.

Preferably, various brakings and torque control mode, which are arranged, to be corresponded to by being arranged in the existing control system of vehicle Control program, system is executed by the control Program Coordination accordingly and realizes different torque control strategies and different brakings Control strategy, without increasing corresponding control system.

Preferably, road surface types are one-to-one relationship with braking and torque control mode.

S13, under different brakings and torque control mode, according to the defeated of different torque control strategy adjustment engines Torque out, and control for brake is executed to wheel according to different braking control strategies.

Braking and moment of torsion control then are carried out according to the strategy of default under general mode；Braking and torque control under other modes System is then different from the strategy of default.Wherein, braking control strategy includes single-wheel braking or more wheel brakings.Pass through different torques Control strategy and different braking control strategies make vehicle be suitable for different landform.

The braking of vehicle through the foregoing embodiment and drop turn round control method, can pass through the road surface of acquisition vehicle current driving The road surface types of image recognition vehicle current driving；And then according to road surface types with it is default brake and torque control mode it is corresponding Relationship starts braking corresponding with current road type and torque control mode；And in different brakings and torque control mode Under, according to the output torque of different torque control strategy adjustment engines, and according to different braking control strategies to wheel Execute control for brake；Especially for 4 wheel driven vehicle, being conducive to vehicle can be travelled on different road surfaces with optimum state.

In one embodiment, it under different brakings and torque control mode, is adjusted according to different torque control strategies The output torque of engine, and can according to the concrete mode that different braking control strategies executes control for brake to wheel are as follows: Under different brakings and torque control mode, the antero posterior axis rotational speed difference of vehicle is detected, and is reached respectively in the antero posterior axis rotational speed difference The output torque of engine is adjusted when to different rotating speeds difference threshold value.On the other hand, under different brakings and torque control mode, The yaw angle of vehicle is detected, and respectively when the yaw angle reaches different angle values, distributes corresponding size for each wheel Brake force is braked.I.e. in same antero posterior axis rotational speed difference, request is intervened under different brakings and torque control mode It is different that the time turned round drops, thus the driving force that vehicle obtains also can be different, the time that intervention request drop is turned round is more early, and vehicle obtains The driving force obtained is smaller, as a result, vehicle is smaller relative to the amount of slip of X-direction；Conversely, the driving force that vehicle obtains is bigger, As a result, vehicle is bigger relative to the amount of slip of X-direction.Similarly, different in the case where same yaw angle occurs in vehicle Braking and torque control mode under the intervention time of single-wheel or more wheel control for brake it is sooner or later different, thus the transverse direction of vehicle tolerance Amplitude of fluctuation also can be different, and the intervention time of single-wheel or more wheel control for brake is more early, and the horizontal swing amplitude that can be tolerated is smaller, Vehicle is smaller relative to the amount of slip of Y-direction；Conversely, the horizontal swing amplitude that can be tolerated is bigger, vehicle is relative to Y-direction Amount of slip is bigger.Wherein X-direction and Y-direction refer to coordinate system shown in Fig. 2.Refering to what is shown in Fig. 2, holding when vehicle turns right The deflection to the right relative to Y-direction easily occurs and applies brake force, i.e. single-wheel on the near front wheel if this deflection angle is excessive Braking；From horizontal plane, brake force shown in straight arrows forms an anti-clockwise torque, i.e. Fig. 2 along the mass center of vehicle In curve arrow shown in, the deflection to the right of vehicle can be corrected under the action of the torque.

In one embodiment, identify that the concrete mode of the road surface types of vehicle current driving can in above-mentioned steps S11 are as follows: obtain The pavement image of pick-up current driving, analyzes the pavement image and obtains pavement state information；Obtain the current geography of vehicle Location information determines the landform of current vehicle position according to the geographical location information；In conjunction with the landform and pavement state The road surface types of information identification vehicle current driving.Such as: current pavement image is absorbed by camera, meanwhile, according to GPS Or the Big Dipper positioning system positions the position being presently in, and such as the uneven desert in library, the pavement image letter shot in conjunction with camera Breath can be determined more accurately currently as sand ground road surface.

In one embodiment, in the case where control method is turned round in the braking of vehicle and drop, driver can also manually select braking and torsion Square control model.Preferably, if receiving the operational order of selection braking and torque control mode, the operational order is referred to To braking and torque control mode with according to current road type determine braking and torque control mode be compared, if two Person is inconsistent, and starting is according to the determining braking of current road type and torque control mode.I.e. driver manually selects landform mould After formula, it still is able to that the whether suitable of manual selection modes judged according to the road surface of automatic identification, if improper, can be adjusted to Thus suitable orographic model can avoid the maloperation of other staff on driver or vehicle.

In one embodiment, the road surface types are divided into prevailing roadway, snowfield, muddy ground, four kinds of sand ground, corresponding braking and Torque control mode is respectively common braking and torque mode, the first braking and torque mode, the second braking and torque mode, the Three brakings and torque mode.Accordingly, in a preferred embodiment, the specific implementation strategy of above-mentioned steps S13 is as shown in table 1.

Table 1:

Wherein, default drop, which is turned round strategy and referred to, reaches default rotational speed difference threshold value under normal circumstances in antero posterior axis rotational speed difference When intervention drop wring dry it is pre-.Default braking strategy refers to Jie when yaw angle reaches default yaw angle threshold value under normal circumstances Enter brake regulation.

Preferably, the first rotational speed difference threshold value is less than the default rotational speed difference threshold value, and the first yaw angle threshold value is less than described silent Recognize yaw angle threshold value；Second rotational speed difference threshold value is greater than the default rotational speed difference threshold value, and the second yaw angle threshold value is greater than the default Yaw angle threshold value；Second rotational speed difference threshold value is greater than the default rotational speed difference threshold value, and it is horizontal that the second yaw angle threshold value is greater than the default Pivot angle threshold value.

I.e. prevailing roadway when driving, enable the common braking and torque mode automatically, obtain vehicle antero posterior axis turn Speed difference, and send drop to engine when antero posterior axis rotational speed difference reaches preset default rotational speed difference threshold value and turn round request, to reduce hair The output torque of motivation；And the yaw angle of vehicle is obtained, when yaw angle reaches the default yaw angle threshold value of setting, to braking System sends brake request, to apply the brake force of corresponding size to each wheel；

In snowfield road traveling, first braking and torque mode are enabled automatically, obtains the antero posterior axis revolving speed of vehicle Difference, and send drop to engine when antero posterior axis rotational speed difference reaches the first rotational speed difference threshold value and turn round request, to reduce the defeated of engine Torque out；And the yaw angle of vehicle is obtained, when yaw angle reaches the first yaw angle threshold value of setting, sent to braking system Brake request, to apply the brake force of corresponding size to each wheel.I.e. on snowfield when driving, braking through the foregoing embodiment And drop turns round control method and vehicle can be made to obtain lesser driving force, reduces amount of slip of the vehicle relative to X-direction, while brake compared with Early intervention, prevents offset of the vehicle relative to Y-direction, that is, avoids vehicle out of control on low attachment road surface.

In muddy ground road traveling, second braking and torque mode are enabled automatically, obtains the antero posterior axis revolving speed of vehicle Difference, and send drop to engine when antero posterior axis rotational speed difference reaches the second rotational speed difference threshold value and turn round request, to reduce the defeated of engine Torque out；And the yaw angle of vehicle is obtained, when yaw angle reaches the second yaw angle threshold value of setting, sent to braking system Brake request, to apply the brake force of corresponding size to each wheel.I.e. on muddy water road surface when driving, through the foregoing embodiment Braking and drop, which turn round control method, can make vehicle obtain biggish driving force, allow vehicle relative to a degree of skidding of X-direction Amount, while vehicle being allowed to deviate to a certain degree relative to Y-direction, prevent vehicle in muddy ground slippery surface frequent swing.

In sand ground road traveling, the third braking and torque mode are enabled automatically, obtains the antero posterior axis revolving speed of vehicle Difference, and send drop to engine when the antero posterior axis rotational speed difference reaches third rotational speed difference threshold value and turn round request, to reduce engine Output torque；And the yaw angle of vehicle is obtained, when yaw angle reaches the third yaw angle threshold value of setting, to braking system Brake request is sent, to apply the brake force of corresponding size to each wheel.I.e. on sand ground road surface when driving, pass through above-mentioned implementation The braking of example and drop, which turn round control method, can make vehicle obtain biggish driving force, allow vehicle a degree of relative to X-direction Amount of slip, while vehicle being allowed to deviate to a certain degree relative to Y-direction, i.e. permission vehicle is a degree of in sand ground soft surfaces Horizontal swing.

In an alternative embodiment, control can (Electronic Stability Program, electronics be steady by ESP for drop torsion Determine control system) it sends drop and turns round request (such as (Engine Manegement System, starts EMS to output control of engine power device Machine management system)), require engine output torque to reduce by output control of engine power device.Wherein, above-mentioned drop, which is turned round in request, includes There is target torque value, so that output control of engine power device adjusts the output torque of engine according to the target torque value.Braking Control can request braking system by ESP dynamic braking, and instruction braking system brakes single-wheel or more wheels.Wherein, institute Stating in brake request includes braking force distribution information, so that braking system can be each wheel according to the braking force distribution information Apply the brake force of corresponding size.

It should be noted that it includes target torque in request that the drop, which is turned round, under any two kinds of brakings and torque control mode Include at least one of braking force distribution information difference in value, the brake request.

In an alternative embodiment, start braking corresponding with current road type and torque control mode in step S12 Later, corresponding instruction information can be exported, by the instrument board of vehicle also with the braking for reminding driver to be presently in and torque Control model.

In another embodiment, the braking of the vehicle and drop are turned round control method and be can comprise the following steps that

(1) pavement image for obtaining vehicle current driving, the road surface of vehicle current driving is identified according to the pavement image Type；

(2) start corresponding orographic model under full landform adaptive pattern according to current road surface types；In the landform mould It is corresponding with current orographic model according to orographic model and preset braking and the corresponding relationship of torque control mode, determination under formula Braking and torque control mode；Orographic model under the full landform adaptive pattern include common orographic model, snow field mode, At least two in muddy ground mode, sand ground mode；

(3) under different brakings and torque control mode, according to the defeated of different torque control strategy adjustment engines Torque out, and control for brake is executed to wheel according to different braking control strategies.

Above-mentioned steps S12, S13 are replaced with to step (2), step (3) respectively.Accordingly, the braking of the vehicle and Drop turns round control method and is suitable for the vehicle with full landform adaptive pattern, and turns round control in the braking and drop for realizing the vehicle Before method, the full landform adaptive pattern of unlocking vehicle is also needed；Such as full landform is opened or closed by interior preset control Adaptive pattern.When full landform adaptive pattern is open state, according to above-mentioned output control of engine power method real-time control engine Output torque.

Optionally, the braking of the vehicle of another embodiment and drop torsion control method are further comprised the steps of: and are preset at least Two kinds of brakings and drop twisting die formula, and establish the corresponding pass of each orographic model and braking and drop twisting die formula under full landform adaptive pattern System；And pre-establish the corresponding relationship of each orographic model and road surface types under full landform adaptive pattern.It is understood that Each orographic model and braking and drop twisting die formula can be one-to-one relationship, be also possible to two or more orographic models corresponding one Kind braking and drop twisting die formula.Similarly, road surface types and the corresponding relationship of each orographic model under full landform adaptive pattern can be one One-to-one correspondence is also possible to multiple road type and corresponds to a kind of orographic model.Above two corresponding relationship can be according to reality Border situation is set.

In one embodiment, it is assumed that each orographic model and braking and torque control mode is corresponding under full landform adaptive pattern Relationship include: common orographic model, snow field mode, muddy water mode, sand ground mode respectively with common braking and torque mode, first Braking and torque mode, the second braking and torque mode, third braking and torque mode correspond.Specific implementation strategy such as table Shown in 2.

Table 2:

Wherein, default drop, which is turned round strategy and referred to, reaches default rotational speed difference threshold value under normal circumstances in antero posterior axis rotational speed difference When intervention drop wring dry it is pre-；Default braking strategy is referred to when the yaw angle of vehicle reaches default yaw angle threshold under normal circumstances Brake regulation is intervened when value.

In conjunction with table 2, optionally, above-mentioned steps (3) are specifically included:

If common braking and torque mode, then the antero posterior axis rotational speed difference of vehicle is obtained, and reach in antero posterior axis rotational speed difference Drop is sent to engine when preset default rotational speed difference threshold value and turns round request, to reduce the output torque of engine；And obtain vehicle Yaw angle, when yaw angle reaches the default yaw angle threshold value of setting, to braking system send brake request, to each vehicle Wheel applies the brake force of corresponding size.

If the first braking and torque mode, then the antero posterior axis rotational speed difference of vehicle is obtained, and reach in antero posterior axis rotational speed difference Drop is sent to engine when the first rotational speed difference threshold value and turns round request, to reduce the output torque of engine；And obtain the cross of vehicle Pivot angle sends brake request to braking system when yaw angle reaches the first yaw angle threshold value of setting, to apply to each wheel The brake force of corresponding size；The first rotational speed difference threshold value is less than the default rotational speed difference threshold value, the first yaw angle threshold value Less than the default yaw angle threshold value.I.e. on snowfield when driving, vehicle is made to obtain lesser driving force, reduce vehicle relative to The amount of slip of X-direction, while relatively early intervention is braked, offset of the vehicle relative to Y-direction is prevented, that is, avoids vehicle on low attachment road Face is out of control.

If the second braking and torque mode, then the antero posterior axis rotational speed difference of vehicle is obtained, and reach in antero posterior axis rotational speed difference Drop is sent to engine when the second rotational speed difference threshold value and turns round request, to reduce the output torque of engine；And obtain the cross of vehicle Pivot angle sends brake request to braking system when yaw angle reaches the second yaw angle threshold value of setting, to apply to each wheel The brake force of corresponding size；The second rotational speed difference threshold value is greater than the default rotational speed difference threshold value, the second yaw angle threshold value Greater than the default yaw angle threshold value.I.e. on muddy water road surface when driving, so that vehicle is obtained biggish driving force, allow vehicle phase Amount of slip a degree of for X-direction, while vehicle being allowed to deviate to a certain degree relative to Y-direction, prevent vehicle in muddy ground Slippery surface frequent swing.

If third braking and torque mode, then the antero posterior axis rotational speed difference of vehicle is obtained, and in the antero posterior axis rotational speed difference Drop is sent to engine when reaching third rotational speed difference threshold value and turns round request, to reduce the output torque of engine；And obtain vehicle Yaw angle, when yaw angle reaches the third yaw angle threshold value of setting, to braking system send brake request, to each wheel Apply the brake force of corresponding size；The third rotational speed difference threshold value is greater than the second rotational speed difference threshold value, the third yaw angle Threshold value is greater than the second yaw angle threshold value.I.e. on sand ground road surface when driving, so that vehicle is obtained biggish driving force, allow whole Vehicle allows vehicle to deviate to a certain degree relative to Y-direction relative to a degree of amount of slip of X-direction, i.e. permission vehicle In a degree of horizontal swing of sand ground soft surfaces.

Wherein, it includes target torque value in request that the drop, which is turned round, to adjust the defeated of engine according to the target torque value Torque out；It include braking force distribution information in the brake request, to be the application of each wheel according to the braking force distribution information The brake force of corresponding size.Under any two kinds of brakings and torque mode, it includes target torque value, the system in request that the drop, which is turned round, Include at least one of braking force distribution information difference in dynamic request.

In an alternative embodiment, the braking of the vehicle of another embodiment and drop are turned round in control method, driver Orographic model can also be manually selected.Such as image collecting device failure, or when can not effectively identify current road surface types, it can The orographic model according to selected by driver enters corresponding orographic model under full landform adaptive pattern.Another embodiment If the braking of vehicle and drop turn round control method and further comprise the steps of: the operational order for receiving selection orographic model, by the operation The orographic model orographic model corresponding with the road surface types currently identified that instruction is directed toward is compared, if the two is consistent, opens The orographic model that the operational order is directed toward is moved, otherwise, starts orographic model corresponding with the road surface types currently identified.With This is avoided maloperation of the passengers inside the car to orographic model.

The braking of vehicle based on above-mentioned another embodiment and drop turn round control method, by obtaining vehicle current driving Pavement image identifies the road surface types of vehicle current driving according to the pavement image；And then it is opened according to current road surface types Move corresponding orographic model under full landform adaptive pattern；Under the orographic model, according to orographic model and it is preset braking and The corresponding relationship of torque control mode determines braking corresponding with current orographic model and torque control mode；Further, may be used Under different brakings and torque control mode, according to the output torque of different torque control strategy adjustment engines, and press Control for brake is executed to wheel according to different braking control strategies, being conducive to vehicle can be with optimum state row on different road surfaces It sails.

It should be noted that for the various method embodiments described above, describing for simplicity, it is all expressed as a series of Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because according to According to the present invention, certain steps can use other sequences or carry out simultaneously.

Based on thought identical with the braking of the vehicle in above-described embodiment and drop torsion control method, the present invention also provides vehicles Braking and drop turn round control device, the device can be used for executing above-mentioned vehicle braking and drop turn round control method.For the ease of Illustrate, the braking of vehicle and drop are turned round in the structural schematic diagram of control device embodiment, illustrate only and phase of the embodiment of the present invention The part of pass, it will be understood by those skilled in the art that the restriction of schematic structure not structure twin installation, may include than illustrating more More or less component perhaps combines certain components or different component layouts.

Fig. 3 is the braking of the vehicle of one embodiment of the invention and the schematic diagram of drop torsion control device；Such as Fig. 3 institute Show, the braking of the vehicle of the present embodiment and drop torsion control device include: that road surface identification module 310, braking and drop twisting die formula determine Module 320 and braking and drop turn round control module 330, and details are as follows for each module:

Shown road surface identification module 310 is known for obtaining the pavement image of vehicle current driving according to the pavement image The road surface types of other vehicle current driving；The road surface types are including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

Shown braking and drop turn round mode decision module 320, for according to road surface types and default braking and moment of torsion control mould The corresponding relationship of formula starts braking corresponding with current road type and torque control mode；

Shown braking and drop turn round control module 330, are used under different braking and torque control mode, according to different torsions Square control strategy adjusts the output torque of engine, and executes control for brake to wheel according to different braking control strategies.

In an alternative embodiment, above-mentioned braking and drop turn round control module 330 can include:

Moment of torsion control unit, for detecting the antero posterior axis rotational speed difference of vehicle under different braking and torque control mode, and The output torque of engine is adjusted when the antero posterior axis rotational speed difference reaches different rotating speeds difference threshold value respectively；Brak control unit, Reach different in the yaw angle for detecting the yaw angle of vehicle under different braking and torque control mode, and respectively When angle value, the brake force for distributing corresponding size for each wheel is braked.

In an alternative embodiment, the road surface identification module 310 is specifically used for obtaining the road surface figure of vehicle current driving Picture analyzes the pavement image and obtains pavement state information；The current geographical location information of vehicle is obtained, according to the geographical position Confidence ceases the landform for determining current vehicle position；In conjunction with the landform and the road of pavement state information identification vehicle current driving Noodles type.To improve the accuracy of road surface types identification.

In an alternative embodiment, the braking and drop turn round mode decision module 320, if being also used to receive selection braking And the operational order of torque control mode, then the braking being directed toward the operational order and torque control mode with according to current road The braking and torque control mode that noodles type determines are compared, if the two is inconsistent, starting is determined according to current road type Braking and torque control mode.Thus it can avoid the maloperation of other staff on driver or vehicle.

In an alternative embodiment, the braking and drop are turned round in control module 330 and include:

First control unit, for obtaining the antero posterior axis rotational speed difference of vehicle under the common braking and torque mode, and Drop is sent to engine when antero posterior axis rotational speed difference reaches preset default rotational speed difference threshold value and turns round request, to reduce the defeated of engine Torque out；And the yaw angle (i.e. relative to the deflection angle of Y-direction) of vehicle is obtained, when yaw angle reaches the default sideway of setting When the threshold value of angle, brake request is sent to braking system, to apply the brake force of corresponding size to each wheel.

Second control unit, for obtaining the antero posterior axis rotational speed difference of vehicle under first braking and torque mode, and Drop is sent to engine when antero posterior axis rotational speed difference reaches the first rotational speed difference threshold value and turns round request, is turned round with reducing the output of engine Square；And the yaw angle of vehicle is obtained, when yaw angle reaches the first yaw angle threshold value of setting, sends and brake to braking system Request, to apply the brake force of corresponding size to each wheel；The first rotational speed difference threshold value is less than the default rotational speed difference threshold value, The first yaw angle threshold value is less than the default yaw angle threshold value.

Third control unit, for obtaining the antero posterior axis rotational speed difference of vehicle under second braking and torque mode, and Drop is sent to engine when antero posterior axis rotational speed difference reaches the second rotational speed difference threshold value and turns round request, is turned round with reducing the output of engine Square；And the yaw angle of vehicle is obtained, when yaw angle reaches the second yaw angle threshold value of setting, sends and brake to braking system Request, to apply the brake force of corresponding size to each wheel；The second rotational speed difference threshold value is greater than the default rotational speed difference threshold value, The second yaw angle threshold value is greater than the default yaw angle threshold value.

And the 4th control unit, for obtaining the antero posterior axis revolving speed of vehicle under third braking and torque mode Difference, and send drop to engine when the antero posterior axis rotational speed difference reaches third rotational speed difference threshold value and turn round request, to reduce engine Output torque；And the yaw angle of vehicle is obtained, when the yaw angle reaches the third yaw angle threshold value of setting, to braking System sends brake request, to apply the brake force of corresponding size to each wheel；The third rotational speed difference threshold value is greater than described the Two rotational speed difference threshold values, the third yaw angle threshold value are greater than the second yaw angle threshold value.

Wherein, the common braking and torque mode, the first braking and torque mode, the second braking and torque mode, the Three brakings and torque mode are corresponding with general type, snowfield type, muddy water type, the road surface types of sand ground class respectively.

It includes target torque value in request that the drop, which is turned round, is turned round with adjusting the output of engine according to the target torque value Square；It include braking force distribution information in the brake request, to be that each wheel applies correspondence according to the braking force distribution information The brake force of size；Under any two kinds of brakings and torque control mode, it includes target torque value, the system in request that the drop, which is turned round, Include at least one of braking force distribution information difference in dynamic request.

The braking of vehicle through the foregoing embodiment and drop turn round control device, by the road surface figure for obtaining vehicle current driving As the road surface types of identification vehicle current driving；Start braking corresponding with current road type and torque control mode；And Under different brakings and torque control mode, according to the output torque of different torque control strategy adjustment engines, and according to Different braking control strategies executes control for brake to wheel, and being conducive to vehicle can be travelled on different road surfaces with optimum state.

It should be noted that the braking of the vehicle of above-mentioned example and drop are turned round in the embodiment of control device, each module/mono- The contents such as information exchange, implementation procedure between member are brought due to being based on same design with preceding method embodiment of the present invention Technical effect it is identical as preceding method embodiment of the present invention, for details, please refer to the description in the embodiment of the method for the present invention, Details are not described herein again.

In addition, the braking of the vehicle of above-mentioned example and drop are turned round in the embodiment of control device, each functional module/unit Logical partitioning is merely illustrative of, and can according to need in practical application, such as the configuration requirement of corresponding hardware or soft The convenient of the realization of part considers, above-mentioned function distribution is completed by different functional modules, i.e., by the braking and drop of the vehicle The internal structure for turning round control device is divided into different functional module/units, to complete all or part of function described above Energy.Wherein each functional module/unit both can take the form of hardware realization, can also use software function module/unit Form is realized.

As shown in figure 4, turning round the structural schematic diagram of control system for the braking of the vehicle of an embodiment and drop.The vehicle Braking and drop turn round control system include: road surface identification device, full landform controller and braking and drop turn round control device.With reference to It shown in Fig. 4, is turned round in control system in the braking of vehicle and drop, road surface identification device connects full landform controller, full landform control Device is also connected with braking and drop turns round control device；Braking and drop turn round control device and are also connected with the brake apparatus of vehicle, and pass through hair Motivation control device connects engine.Wherein the full landform controller includes independent control and integrated manipulator.At this In embodiment, the function that each section is realized is as follows:

Road surface identification device is used to obtain the pavement image of vehicle current driving, identifies that vehicle is worked as according to the pavement image The road surface types of preceding traveling, and the road surface types are sent to the full landform control device.Full landform controller is used for root According to road surface types and default braking and the corresponding relationship of torque control mode, braking corresponding with current road type and torsion are determined Square control model, and it is sent to the braking and drop torsion control device；The road surface types include at least prevailing roadway, snowfield, Two kinds in muddy ground, sand ground.The braking and drop turn round control device for starting corresponding braking and torque control mode, and Under different braking and torque control mode, according to the output torque of different torque control strategy adjustment engines, and according to not Same braking control strategy executes control for brake to wheel.

In an alternative embodiment, the road surface identification device includes: image capture device, positioning device and processor； Described image acquisition equipment is used to acquire the pavement image of vehicle current driving, and the pavement image is sent to the processing Device；The geographical location information is sent to described by the positioning device for obtaining the current geographical location information of vehicle Processor；The processor obtains pavement state information for analyzing the pavement image, true according to the geographical location information Determine the landform of current vehicle position, and in conjunction with the landform and the road surface class of pavement state information identification vehicle current driving Type.So as to improve the accuracy of road surface types identification.Wherein, above-mentioned image capture device such as camera, positioning device is for example GPS or BEI-DOU position system etc..

In an alternative embodiment, the braking of above-mentioned vehicle and drop turn round control system further include: mode selector, with institute The communication connection of full landform controller is stated, is braked and the operational order of torque control mode for receiving selection, and by the operation Instruction is sent to the full landform controller；If the full landform controller is also used to receive selection braking and moment of torsion control mould The operational order of formula, the then braking being directed toward the operational order and torque control mode with according to current road type determine Braking and torque control mode are compared, if the two is inconsistent, the braking and torque control that will be determined according to current road type Molding formula is sent to the braking and drop turns round control device.To avoid the maloperation of driver or interior other staff.

In an alternative embodiment, it further includes display device that the braking of above-mentioned vehicle and drop, which turn round control system, and described complete The communication connection of landform controller is driven for showing prompt information corresponding with current braking and torque control mode with reminding The current braking of the person of sailing and torque control mode.It may also display the road surface types currently identified, to verify automatic identification Whether road surface types are accurate.

In an alternative embodiment, the braking of the vehicle and drop turn round control system further include: engine control system. The braking and drop are turned round control device and are also communicated to connect with the engine control system.The braking and drop turn round control device also For sending drop to engine control system according to different torque control strategies and turning round under different braking and torque control mode Request.The output that the engine control system is used to turn round the target drop torsion value adjustment engine that request includes according to the drop is turned round Square.Preferably, it can be ESP (Electronic Stability Program, electronic stability that the braking and drop, which turn round control device, Control system), without increasing new system, it is easy to implement.

In an alternative embodiment, if the vehicle for being provided with full landform adaptive pattern, the braking of above-mentioned vehicle and drop are turned round Control system further include: orographic model selection device selects the behaviour of orographic model under full landform adaptive pattern for receiving user It instructs, and the operational order is sent to full landform controller, the full landform controller is opened according to the operational order Move corresponding orographic model under full landform adaptive pattern.Full landform adaptive pattern is a kind of vehicle control mould proposed in recent years Formula, is generally used for cross-country vehicle, mainly passes through dedicated full topography system and realizes.Generally it is arranged under full landform adaptive pattern A variety of gears settings, for example, commonly, meadow-grit-snowfield, miriness and track, sandy soil, petromodel.Full topography system is equal It is by acting synergistically with engine control system and electronic stabilizing control system to improve traffic safety.Optionally, described Orographic model under full landform adaptive pattern include common orographic model, snow field mode, muddy ground mode, at least two in sand ground mode Kind.

Control system is turned round by the braking and drop of the vehicle of above embodiment, by the road surface for obtaining vehicle current driving The road surface types of image recognition vehicle current driving；Start braking corresponding with current road type and torque control mode；And Under different brakings and torque control mode, according to the output torque of different torque control strategy adjustment engines, and press Control for brake is executed to wheel according to different braking control strategies to be conducive to vehicle especially for 4 wheel driven vehicle and do not going the same way Face can be travelled with optimum state.

In another embodiment, the braking of the vehicle and drop are turned round in control system, and the full landform controller is used for Start orographic model corresponding with current road type, and after starting corresponding orographic model, according to orographic model and in advance If braking/torque control strategy corresponding relationship, determine corresponding with current orographic model braking and torque mode, and by institute It states braking and torque mode is sent to the braking and drop turns round control device.Correspondingly, the braking and drop turn round control device, use In the output torque according to current braking and torque mode adjustment engine, and corresponding control for brake is carried out to wheel.

Optionally, prevailing roadway when driving, according to general categories carry out braking and moment of torsion control；When other road travelings Braking and torque control strategy be then different from general categories.Wherein, control for brake includes single-wheel braking or more wheel brakings, is led to It crosses different torque control strategies and different braking control strategies enables to vehicle to be suitable for different landform；Especially pair In 4 wheel driven vehicle, being conducive to vehicle can be travelled on different road surfaces with optimum state

In one embodiment, under different braking/torque control strategies, hair is adjusted according to different torque control strategies The output torque of motivation, and control for brake is executed to wheel according to different braking control strategies, concrete mode can are as follows: not Under same braking/torque control strategy, the antero posterior axis rotational speed difference of vehicle is detected, and reach not in the antero posterior axis rotational speed difference respectively With the output torque for adjusting engine when rotational speed difference threshold value；Similarly, under different braking/torque control strategies, vehicle is detected Yaw angle the brake force of corresponding size is distributed for each wheel and respectively when the yaw angle reaches different angle values It is braked.I.e. in same antero posterior axis rotational speed difference, the braking and drop turn round control under different braking/torque control strategies The time that device intervention request drop processed is turned round is different, thus the driving force that vehicle obtains also can be different, and the braking and drop are turned round The time that control device intervention request drop is turned round is more early, and the driving force that vehicle obtains is smaller, as a result, vehicle is relative to X-direction Amount of slip is smaller；Conversely, the driving force that vehicle obtains is bigger, as a result, vehicle is bigger relative to the amount of slip of X-direction.It is similar Ground, in the case where same yaw angle occurs in vehicle, under different braking/torque control strategies, to single-wheel or more wheel braking controls The intervention time of system is sooner or later different, thus the horizontal swing amplitude of vehicle tolerance also can be different, to single-wheel or takes turns control for brake more Intervention time it is more early, the horizontal swing amplitude that can be tolerated is smaller, and vehicle is smaller relative to the amount of slip of Y-direction；Conversely, energy The horizontal swing amplitude enough tolerated is bigger, and vehicle is bigger relative to the amount of slip of Y-direction.Wherein X-direction and Y-direction refer to Fig. 2 Shown in coordinate system.Refering to what is shown in Fig. 2, it is easy to happen the deflection to the right relative to Y-direction when vehicle turns right, if this Deflection angle is excessive, then applies brake force on the near front wheel, i.e. single-wheel is braked；From horizontal plane, made shown in straight arrows Power forms an anti-clockwise torque shown in the curve arrow in i.e. Fig. 2 along the mass center of vehicle can entangle under the action of the torque The deflection to the right of positive vehicle.

In one embodiment, each orographic model and braking/torque control strategy corresponding relationship under full landform adaptive pattern Include: common orographic model, snow field mode, muddy water mode, sand ground mode respectively with common braking and torque mode, the first braking And torque mode, the second braking and torque mode, third braking and torque mode correspond.Specific implementation strategy is such as 2 institute of table Show.

In conjunction with table 2, optionally, the braking and drop are turned round control device and are specifically used for:

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment Point, it may refer to the associated description of other embodiments.It is appreciated that term " first ", " second " used in wherein etc. is at this For distinguishing object in text, but these objects should not be limited by these terms.

It will appreciated by the skilled person that realizing all or part of the process in above-described embodiment method, being can It is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage and be situated between In matter, sells or use as independent product.When being executed, the complete of the embodiment such as above-mentioned each method can be performed in described program Portion or part steps.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..

The embodiments described above only express several embodiments of the present invention, should not be understood as to the invention patent range Limitation.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise, Various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the present invention It should be determined by the appended claims.

Claims

1. a kind of braking of vehicle and drop turn round control method characterized by comprising

The pavement image for obtaining vehicle current driving identifies the road surface types of vehicle current driving according to the pavement image；Institute Road surface types are stated including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

According to road surface types and default braking and the corresponding relationship of torque control mode, start system corresponding with current road type Dynamic and torque control mode；

Under different brakings and torque control mode, the output torque of engine is adjusted according to different torque control strategies, Control for brake is executed to wheel with according to different braking control strategies；

Wherein, under different brakings and torque control mode, pass through the antero posterior axis rotational speed difference of vehicle and different rotational speed difference thresholds The comparison result of value adjusts the output torque of engine；Under different braking control strategies, by the yaw angle of vehicle with not The comparison result of same yaw angle threshold value executes control for brake to wheel.

2. the braking of vehicle according to claim 1 and drop turn round control method, which is characterized in that described according to different torsions The output torque of square control strategy adjustment engine, comprising:

The antero posterior axis rotational speed difference of vehicle is detected, and adjusts hair when the antero posterior axis rotational speed difference reaches different rotating speeds difference threshold value respectively The output torque of motivation；

And/or

It is described that control for brake is executed to wheel according to different braking control strategies, comprising:

The yaw angle of vehicle is detected, and respectively when the yaw angle reaches different angle values, it is corresponding big for the distribution of each wheel Small brake force is braked.

3. the braking of vehicle according to claim 1 and drop turn round control method, which is characterized in that the acquisition vehicle is current The pavement image of traveling identifies the road surface types of vehicle current driving according to the pavement image, comprising:

The pavement image for obtaining vehicle current driving, analyzes the pavement image and obtains pavement state information；

The current geographical location information of vehicle is obtained, the landform of current vehicle position is determined according to the geographical location information；

In conjunction with the landform and the road surface types of pavement state information identification vehicle current driving；

And/or

The braking of the vehicle and drop are turned round control method and are further comprised the steps of:

If receiving the operational order of selection braking and torque control mode, the braking that the operational order is directed toward and torque Control model is compared with the braking and torque control mode determined according to current road type, if the two is inconsistent, starting The braking determined according to current road type and torque control mode.

4. the braking of vehicle according to any one of claims 1 to 3 and drop turn round control method, which is characterized in that wherein, commonly Type, snowfield type, muddy water type, sand ground class road surface types respectively with common braking and torque mode, the first braking and turn round Square mode, the second braking and torque mode, third braking and torque mode correspond；

It is described under different braking and torque control mode, turned round according to the output of different torque control strategy adjustment engines Square, and control for brake is executed to wheel according to different braking control strategies, comprising:

Under the common braking and torque mode, the antero posterior axis rotational speed difference of vehicle is obtained, and reach pre- in antero posterior axis rotational speed difference If default rotational speed difference threshold value when to engine send drop turn round request, to reduce the output torque of engine；And obtain vehicle Yaw angle, when yaw angle reaches the default yaw angle threshold value of setting, to braking system send brake request, to each wheel Apply the brake force of corresponding size；

Under first braking and torque mode, the antero posterior axis rotational speed difference of vehicle is obtained, and reach the in antero posterior axis rotational speed difference Drop is sent to engine when one rotational speed difference threshold value and turns round request, to reduce the output torque of engine；And obtain the sideway of vehicle Angle sends brake request to braking system when yaw angle reaches the first yaw angle threshold value of setting, to the application pair of each wheel Answer the brake force of size；The first rotational speed difference threshold value is less than the default rotational speed difference threshold value, and the first yaw angle threshold value is small In the default yaw angle threshold value；

Under second braking and torque mode, the antero posterior axis rotational speed difference of vehicle is obtained, and reach the in antero posterior axis rotational speed difference Drop is sent to engine when two rotational speed difference threshold values and turns round request, to reduce the output torque of engine；And obtain the sideway of vehicle Angle sends brake request to braking system when yaw angle reaches the second yaw angle threshold value of setting, to the application pair of each wheel Answer the brake force of size；The second rotational speed difference threshold value is greater than the default rotational speed difference threshold value, and the second yaw angle threshold value is big In the default yaw angle threshold value；

Under third braking and torque mode, the antero posterior axis rotational speed difference of vehicle is obtained, and reach in the antero posterior axis rotational speed difference Drop is sent to engine when to third rotational speed difference threshold value and turns round request, to reduce the output torque of engine；And obtain vehicle Yaw angle sends brake request to braking system, to apply to each wheel when yaw angle reaches the third yaw angle threshold value of setting Add the brake force of corresponding size；The third rotational speed difference threshold value is greater than the second rotational speed difference threshold value, the third yaw angle threshold Value is greater than the second yaw angle threshold value；

Wherein, it includes target torque value in request that the drop, which is turned round, is turned round with adjusting the output of engine according to the target torque value Square；It include braking force distribution information in the brake request, to be that each wheel applies correspondence according to the braking force distribution information The brake force of size；Under any two kinds of brakings and torque control mode, it includes target torque value, the system in request that the drop, which is turned round, Include at least one of braking force distribution information difference in dynamic request.

5. a kind of braking of vehicle and drop turn round control device characterized by comprising

Road surface identification module identifies that vehicle is current according to the pavement image for obtaining the pavement image of vehicle current driving The road surface types of traveling；The road surface types are including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

Braking and drop turn round mode decision module, for the corresponding pass according to road surface types and default braking and torque control mode System starts braking corresponding with current road type and torque control mode；

Braking and drop turn round control module, are used under different braking and torque control mode, according to different torque control strategies The output torque of engine is adjusted, and control for brake is executed to wheel according to different braking control strategies；

6. the braking of vehicle according to claim 5 and drop turn round control device, which is characterized in that the braking and drop turn round control Molding block includes:

Moment of torsion control unit, under different braking and torque control mode, detecting the antero posterior axis rotational speed difference of vehicle, and respectively The output torque of engine is adjusted when the antero posterior axis rotational speed difference reaches different rotating speeds difference threshold value；

Brak control unit, for detecting the yaw angle of vehicle, and respectively described under different braking and torque control mode When yaw angle reaches different angle values, the brake force for distributing corresponding size for each wheel is braked.

7. the braking of vehicle according to claim 5 and drop turn round control device, which is characterized in that the road surface identifies mould Block analyzes the pavement image and obtains pavement state information specifically for obtaining the pavement image of vehicle current driving；Obtain vehicle Current geographical location information, the landform of current vehicle position is determined according to the geographical location information；In conjunction with the landform And the road surface types of pavement state information identification vehicle current driving；

And/or

The braking and drop turn round mode decision module, if being also used to receive, selection is braked and the operation of torque control mode refers to Order, the then braking being directed toward the operational order and torque control mode and the braking and torque determined according to current road type Control model is compared, if the two is inconsistent, starting is according to the determining braking of current road type and torque control mode.

8. turning round control device according to the braking of any vehicle of claim 5 to 7 and drop, which is characterized in that wherein, commonly Type, snowfield type, muddy water type, sand ground class road surface types respectively with common braking and torque mode, the first braking and turn round Square mode, the second braking and torque mode, third braking and torque mode correspond；

The braking and drop turn round control module

First control unit, for obtaining the antero posterior axis rotational speed difference of vehicle, and preceding under the common braking and torque mode Drop is sent to engine when rear axle rotational speed difference reaches preset default rotational speed difference threshold value and turns round request, is turned round with reducing the output of engine Square；And the yaw angle of vehicle is obtained, when yaw angle reaches the default yaw angle threshold value of setting, sends and brake to braking system Request, to apply the brake force of corresponding size to each wheel；

Second control unit, for obtaining the antero posterior axis rotational speed difference of vehicle, and preceding under first braking and torque mode Drop is sent to engine when rear axle rotational speed difference reaches the first rotational speed difference threshold value and turns round request, to reduce the output torque of engine；With And the yaw angle of vehicle is obtained, when yaw angle reaches the first yaw angle threshold value of setting, brake request is sent to braking system, To apply the brake force of corresponding size to each wheel；The first rotational speed difference threshold value is less than the default rotational speed difference threshold value, described First yaw angle threshold value is less than the default yaw angle threshold value；

Third control unit, for obtaining the antero posterior axis rotational speed difference of vehicle, and preceding under second braking and torque mode Drop is sent to engine when rear axle rotational speed difference reaches the second rotational speed difference threshold value and turns round request, to reduce the output torque of engine；With And the yaw angle of vehicle is obtained, when yaw angle reaches the second yaw angle threshold value of setting, brake request is sent to braking system, To apply the brake force of corresponding size to each wheel；The second rotational speed difference threshold value is greater than the default rotational speed difference threshold value, described Second yaw angle threshold value is greater than the default yaw angle threshold value；

4th control unit, for obtaining the antero posterior axis rotational speed difference of vehicle, and in institute under third braking and torque mode It states and sends drop torsion request to engine when antero posterior axis rotational speed difference reaches third rotational speed difference threshold value, turned round with reducing the output of engine Square；And the yaw angle of vehicle is obtained, when the yaw angle reaches the third yaw angle threshold value of setting, sent to braking system Brake request, to apply the brake force of corresponding size to each wheel；The third rotational speed difference threshold value is greater than second rotational speed difference Threshold value, the third yaw angle threshold value are greater than the second yaw angle threshold value；

Wherein, it includes target torque value in request that the drop, which is turned round, is turned round with adjusting the output of engine according to the target torque value Square；It include braking force distribution information in the brake request, to be that each wheel applies correspondence according to the braking force distribution information The brake force of size；Under any two kinds of brakings and torque control mode, in the target torque value, the braking force distribution information At least one is different.

9. a kind of braking of vehicle and drop turn round control system characterized by comprising road surface identification device, full landform controller And braking and drop turn round control device；

The road surface identification device identifies vehicle according to the pavement image for obtaining the pavement image of vehicle current driving The road surface types of current driving, and the road surface types are sent to the full landform controller；

The full landform controller is determined for the corresponding relationship according to road surface types and default braking and torque control mode Braking corresponding with current road type and torque control mode, and it is sent to the braking and drop torsion control device；The road Noodles type is including at least two kinds in prevailing roadway, snowfield, muddy ground, sand ground；

The braking and drop turn round control device, for starting corresponding braking and torque control mode, and in different braking and torsion Under square control model, according to the output torque of different torque control strategy adjustment engines, and according to different control for brake Strategy executes control for brake to wheel；

10. the braking of vehicle according to claim 9 and drop turn round control system, which is characterized in that the road surface identification dress Set includes: image capture device, positioning device and processor；

Described image acquires equipment, is sent to institute for acquiring the pavement image of vehicle current driving, and by the pavement image State processor；

The positioning device is sent to institute for obtaining the current geographical location information of vehicle, and by the geographical location information State processor；

The processor obtains pavement state information for analyzing the pavement image, is determined according to the geographical location information The landform of current vehicle position, and in conjunction with the landform and the road surface class of pavement state information identification vehicle current driving Type；

And/or

The braking of the vehicle and drop turn round control system further include: mode selector,

The mode selector refers to for receiving the operational order of selection braking and torque control mode, and by the operation Order is sent to the full landform controller；

The full landform controller will be described if being also used to receive the operational order of selection braking and torque control mode Operational order be directed toward braking and torque control mode with according to current road type determine braking and torque control mode into Row compares, if the two is inconsistent, the braking and torque control mode that determine according to current road type are sent to the braking And drop turns round control device.

11. the braking of vehicle according to claim 9 or 10 and drop turn round control system, which is characterized in that further include: start Machine o controller,

The braking and drop turn round control device, are also used under different braking and torque control mode, according to different torque controls System strategy sends drop to engine o controller and turns round request；

The engine o controller, for turning round the output for the target drop torsion value adjustment engine that request includes according to the drop Torque.

12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor The step of Claims 1-4 any the method is realized when execution.